单级倒立摆的控制系统设计+源程序
毕业论文关键词：单级倒立摆；最优二次控制；模糊控制；融合函数
Design the controller of the Single-stage inverted pendulum
Abstract: The inverted pendulum is a typical open-loop unstable systems. The complexity of the system itself and nonlinear characteristics of the inverted pendulum system has a great challenge for designing controller. The topics used single-stage inverted pendulum model for the study, using the mechanism modeling method to derive the inverted pendulum system state space model, and analyzed open-loop instability of the system. Topic quadratic optimal control and fuzzy reasoning designed controller. Around the inverted pendulum control system focuses on the following points: First, to design the optimal control of secondary inverted pendulum system, and take real-time control on the experimental equipment. Finally, analyzed the influence of the weighting matrix of the control system. Second, using the feedback matrix of the LQR controller designd hierarchical controller ,successfully solves the problem that the fuzzy rules can not be exhaustive and with the knowledge of the fuzzy controller ,we designd the fuzzy controller .Compared the merits and differences between the two controllers though simulake the two controllers,. Simulation results show that: the use of hierarchical fuzzy control technology can better control the inverted pendulum control system, so that the whole system has high noise immunity.
Key Words: Single-stage inverted pendulum;Optimal control ; Fuzzy controller; Fusion function
目录
1 绪论 1
1.1 倒立摆控制系统研究设计的意义 1
1.2 倒立摆系统的发展过程及现状 1
1.3 本课题研究的主要难点和内容 2
1.3.1 倒立摆系统的难点 2
1.3.2 本课题要研究的内容 2
2 倒立摆系统简介 4
2.1 倒立摆的类型及特点 4
2.2 倒立摆系统介绍 5
2.3 MATLAB/SIMULINK的介绍 6
3 倒立摆系统的建模和可控性分析 8
3.1 倒立摆数学模型的建立 8
3.1.1 倒立摆模型推导原理 8
3.1.2 倒立摆模型的建立 8
3.2 一级倒立摆的可控制性分析 11
4 LQR控制 14
4.1 线性二次最优控制原理 14
4.2 单级倒立摆的LQR控制器设计 16
4.3 一级倒立摆LQR实时控制 17
5 模糊控制器设计 20
5.1模糊控制的基本思想 20
5.2模糊控制的基本原理 20
5.3 模糊控制器设计的基本方法 21